/**
* @brief Constructor for a Protobuf Subscriber
*
* @param topicName Topic name on which the subscriber subscribes to data.
**/
public ProtobufSubscriber(string topicName)
{
T msg = new T();
binarySubscriber = new Subscriber(topicName, Common.ProtobufHelper.GetProtoMessageTypeName(msg), Common.ProtobufHelper.GetProtoMessageDescription(msg));
receivedData = new ReceiveCallbackData();
}
/**
* @brief Receive data.
*
* @param receiveTimeout Timeout after which the function returns, even if no data was received.
* If -1, it will only return after data was received.
*
* @return The received data, can be null if no data was received.
**/
public ReceiveCallbackData Receive(int receiveTimeout)
{
var receivedData = binarySubscriber.Receive(receiveTimeout);
if (receivedData != null)
{
byte[] msgBytes = Encoding.Default.GetBytes(receivedData.data);
var msgStream = new MemoryStream(msgBytes);
var protobufCallbackData = new ReceiveCallbackData();
protobufCallbackData.data = new T();
protobufCallbackData.data.MergeFrom(msgStream);
protobufCallbackData.clock = receivedData.clock;
protobufCallbackData.id = receivedData.id;
protobufCallbackData.time = receivedData.time;
return(protobufCallbackData);
}
else
{
return(null);
}
}